Surgical end effectors

ABSTRACT

According to an aspect of the present disclosure, an end effector for use with a surgical device is provided. The end effector includes a drive assembly, a driver, a needle assembly and a biasing element. The driver is disposed in mechanical cooperation with the drive assembly. Rotation of the drive assembly in a first direction causes distal translation of the driver with respect to the drive assembly. The needle assembly is disposed in mechanical cooperation with the driver. Distal translation of the driver causes a corresponding distal translation of the needle assembly. The biasing element is disposed in mechanical cooperation with the needle assembly and is configured to bias the needle assembly proximally.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No. 15/678,149, filed on Aug. 16, 2017, which claims the benefit of and priority to U.S. Provisional Patent Application No. 62/410,876, filed Oct. 21, 2016, the entire disclosures of each of which are incorporated by reference herein.

BACKGROUND Technical Field

The present disclosure relates to end effectors for use with a surgical device for performing endoscopic surgical procedures and methods of use thereof. More specifically, the present disclosure relates to end effectors for advancing at least a portion of a needle into tissue.

Background of Related Art

During laparoscopic or endoscopic surgical procedures, access to a surgical site is achieved through a small incision or through a narrow cannula inserted through a small entrance wound in a patient. Several types of such surgical procedures include advancing at least part of a needle and/or suture into tissue. For example, it may be desired to insert a suture (e.g., a barbed suture) through an implant (e.g., mesh) and into tissue to help secure the implant to tissue. It may also be desired to replace suture that was previously inserted through the implant.

Additionally, after a needle is advanced into tissue, it may be desired to retract the needle in an outer tube of a surgical device or an end effector to prevent or minimize unintended contact between the needle and a physician, for instance.

Accordingly, a need exists for endoscopic surgical devices or end effectors for use therewith including the ability to advance and retract a needle into its outer tube.

SUMMARY

The present disclosure relates to an end effector for used with a surgical device. The end effector includes a drive assembly, a driver, a needle assembly, and a biasing element. The driver is disposed in mechanical cooperation with the drive assembly. Rotation of the drive assembly in a first direction causes distal translation of the driver with respect to the drive assembly. The needle assembly is disposed in mechanical cooperation with the driver. Distal translation of the driver causes a corresponding distal translation of the needle assembly. The biasing element is disposed in mechanical cooperation with the needle assembly. The biasing element is configured to bias the needle assembly proximally.

In disclosed embodiments, the biasing element includes a compression spring. It is further disclosed that the biasing element is disposed distally of a proximal base of the needle assembly.

In aspects of the present disclosure, the end effector also includes an end cap disposed adjacent a distal portion of the driver. The end cap is distally translatable with respect to the drive assembly.

It is also disclosed that the end effector includes a lock disposed in mechanical cooperation with a portion of the end cap. The lock may be configured to help prevent the needle assembly from moving proximally with respect to the driver until the needle assembly has reached a predetermined longitudinal position. In embodiments, the lock is pivotable with respect to the end cap. It is further disclosed that the lock is movable from a first position where a portion of the lock engages a portion of the needle assembly to a second position where the lock is free from engagement with the needle assembly. Additionally, it is disclosed that when the lock is in the first position, the lock resists a bias against the needle assembly provided by the biasing element, and when the lock is in the second position, the needle assembly is movable in a proximal direction with respect to the driver.

In a disclosed embodiment, the end effector includes an outer tube disposed radially outward of the driver. Engagement between a portion of the lock and an inner wall of the outer tube prevents the lock from moving toward the second position.

It is further disclosed that the driver includes a distal slot configured to allow a portion of the lock to pass therethrough.

It is also disclosed that the drive assembly includes a helical groove configured to engage a portion of the driver. Additionally, the drive assembly is fixed from longitudinal movement with respect to the outer tube.

In disclosed embodiments, the needle assembly includes a first needle extending distally from a needle block, and second needle extending distally from the needle block. The first needle is parallel to the second needle.

It is further disclosed that the end effector includes a suture disposed in mechanical cooperation with a needle of the needle assembly.

The present disclosure also relates to an end effector for use with a surgical device, where the end effector includes a drive assembly, a needle assembly, a helix assembly, and biasing element. The needle assembly is disposed in mechanical cooperation with the drive assembly. Rotation of the drive assembly in a first direction causes a corresponding rotation of the needle assembly. The needle assembly includes a pin. The helix assembly is disposed in mechanical cooperation with the needle assembly, and includes a proximal end and a longitudinal slot. The biasing element is disposed in mechanical cooperation with the needle assembly and is configured to bias the needle assembly distally with respect to the drive assembly. The needle assembly is movable with respect to the helix assembly from a first position where the pin is out of alignment with the longitudinal slot of the helix assembly, to a second position where the pin is aligned with the longitudinal slot of the helix assembly, to a third position where the pin has been distally translated with respect to the helix assembly.

In disclosed embodiments, a predetermined amount of rotation of the drive assembly with respect to the helix assembly causes a corresponding rotation of the needle assembly with respect to the helix assembly such that the needle assembly moves from its first position to its second position.

It is further disclosed that when the needle assembly is in the first position, engagement between the pin of the needle assembly and the proximal end of the helix assembly prevents the needle assembly from moving distally with respect to the drive assembly. Additionally, when the needle assembly is in the second position, the biasing element causes the pin to move distally within the longitudinal slot of the helix assembly such that the needle assembly is moved to the third position.

It is also disclosed that rotation of the drive assembly when the needle assembly is in the third position causes the helix assembly to rotate with respect to an outer tube. It is further disclosed that rotation of the helix assembly with respect to the outer tube causes proximal movement of the needle assembly with respect to the outer tube.

In disclosed embodiments, the drive assembly includes a first arm and a second arm. Each of the first arm and the second arm is configured to directly contact the needle assembly.

It is further disclosed that the end effector includes a suture disposed in mechanical cooperation with a needle of the needle assembly.

Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

FIGS. 1 and 2 are perspective views of a surgical device including an end effector engaged therewith according to embodiments of the present disclosure;

FIG. 3 is an enlarged view of the indicated area of detail of FIG. 2 ;

FIG. 4 is a perspective view of a distal portion of an elongated portion of the surgical device of FIGS. 1-3 ;

FIGS. 5-8 illustrate various types of needles and sutures in accordance with embodiments of the present disclosure;

FIGS. 9-20 illustrate various embodiments showing a needle engaged with a suture in accordance with embodiments of the present disclosure;

FIG. 21 is a perspective view of portions of an end effector in accordance with embodiments of the present disclosure;

FIG. 22 is an assembly view of the end effector of FIG. 21 ;

FIG. 23 is a cross-sectional view of a portion of the end effector of FIGS. 21 and 22 ;

FIG. 24 is a perspective view of a portion of the end effector of FIGS. 21-23 ;

FIG. 25 is a perspective view of portions of the end effector of FIGS. 21-24 ;

FIG. 26 is an enlarged view of the area of detail indicated in FIG. 25 ;

FIG. 27 is an enlarged view of the area of detail indicated in FIG. 25 ;

FIG. 28 is a perspective view of portions of the end effector of FIGS. 21-27 ;

FIG. 29 is a perspective view of the needle of FIG. 28 ;

FIG. 30 is a perspective view of portions of the end effector of FIGS. 21-27 and with a needle in an advanced position;

FIG. 31 is a perspective view of portions of the end effector of FIGS. 21-30 ;

FIG. 32 is an enlarged view of the area of detail indicated in FIG. 31 ;

FIG. 33 is an enlarged view of the area of detail indicated in FIG. 31 ;

FIG. 34 is a perspective view of an end effector in accordance with embodiments of the present disclosure;

FIGS. 35 and 36 are cut-away views of portions of the end effector of FIG. 34 ;

FIG. 37 is an assembly view of the end effector of FIGS. 34-36 ;

FIG. 38 is a cross-sectional view of an end effector in accordance with embodiments of the present disclosure;

FIG. 39 is an assembly view of the end effector of FIG. 38 ;

FIG. 40 is a cut-away view of a portion of the end effector of FIGS. 38 and 39 ;

FIG. 41 is a cross-sectional view of the end effector of FIGS. 38-40 ;

FIG. 42 is a cut-away view of a portion of the end effector of FIGS. 38-41 ;

FIG. 43 is a cross-sectional view of the end effector of FIGS. 38-42 illustrating a needle in an advanced position;

FIGS. 44-46 are cut-away view of a portion of the end effector of FIGS. 38-43 during different stages of operation;

FIG. 47 is a cross-sectional view of the end effector of FIGS. 38-46 illustrating the needle in an advanced position;

FIG. 48 is a cross-sectional view of the end effector of FIGS. 38-47 illustrating the needle in a retracted position;

FIG. 49 is a cross-sectional view of the end effector of FIGS. 38-48 illustrating the needle in the retracted position and illustrating a barbed suture for use therewith;

FIG. 50 is a perspective view of an end effector in accordance with embodiments of the present disclosure;

FIG. 51 is an assembly view of the end effector of FIG. 50 ;

FIG. 52 is a perspective view of portions of the end effector of FIGS. 50-51 shown with parts separated;

FIG. 53 is a cross-sectional view of the end effector of FIGS. 50-52 ;

FIG. 54 is a cross-sectional view of the end effector of FIGS. 50-53 illustrating a needle in an advanced position;

FIG. 55 is an enlarged view of the area of detail indicated in FIG. 54 ;

FIG. 56 is a cross-sectional view of the end effector of FIGS. 50-55 illustrating a needle in an advanced position;

FIG. 57 is an enlarged view of the area of detail indicated in FIG. 56 ;

FIG. 58 is a cross-sectional view of the end effector of FIGS. 50-57 illustrating the needle in a retracted position and a suture that has been ejected from the end effector;

FIG. 59 is a cross-sectional view of an end effector in accordance with embodiments of the present disclosure;

FIG. 60 is an assembly view of the end effector of FIG. 59 ;

FIG. 61 is a side view of a needle assembly of the end effector of FIGS. 59-60 ;

FIG. 62 is a perspective view of the needle assembly of FIG. 61 ;

FIGS. 63 and 64 are perspective views of the end effector of FIGS. 59-62 shown during different stages of operation;

FIG. 65 is a cross-sectional view of the end effector of FIGS. 59-64 illustrating the needle assembly in an advanced position;

FIG. 66 is a perspective view of a distal portion of the end effector of FIGS. 59-68 illustrating the needle assembly in an advanced position; and

FIG. 67 is a cut-away view of the end effector of FIGS. 59-66 illustrating the needle assembly in a retracted position.

DETAILED DESCRIPTION OF EMBODIMENTS

Embodiments of the presently disclosed endoscopic surgical device is described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the endoscopic surgical device that is farther from the user, while the term “proximal” refers to that portion of the surgical device that is closer to the user.

Non-limiting examples of surgical devices which may include articulation joints according to the present disclosure include manual, mechanical and/or electromechanical surgical tack appliers (i.e., tackers), clip appliers, surgical forceps, and the like.

Referring initial to FIGS. 1-4 , a surgical instrument for use with the various end effectors of the present disclosure is generally designated as surgical device 100. Surgical device 100 includes a handle assembly 110, an elongated portion 120 extending distally from handle assembly 110, an end effector 130 disposed in mechanical cooperation (e.g., releasably engaged) with a distal portion of elongated portion 120, and a drive rod 150 disposed at least partially within elongated portion 120 and configured to engage (e.g., releasably engage) end effector 130. For clarity, FIGS. 1-3 illustrate a general end effector 130; various other end effectors are shown and described throughout this application and are configured for use with surgical device 100. Generally, end effector 130 is a separable component that is able to be used with a surgical instrument (e.g., a surgical fixation device handle). After its use (e.g., after one or more barbed sutures are released therefrom), the end effector 130 can be removed from the remainder of the surgical instrument, and a new or reloaded end effector 130 can then engage the surgical instrument and be used.

Handle assembly 110 includes a trigger or an actuator 112 (e.g., button, switch, etc.) thereon. In general, actuation of actuator 112 results in rotation of drive rod 150, e.g., in the general direction of arrow “A” in FIG. 4 . There are a variety of ways surgical device 100 can transfer the movement caused by actuation of actuator 112 to rotation of drive rod 150, such as those disclosed in U.S. patent application Ser. No. 15/049,511, filed on Feb. 22, 2016, now U.S. Pat. No. 10,085,746, the entire contents of which are hereby incorporated by reference herein.

Several of the end effectors of the present disclosure are usable to advance at least a portion of a needle and/or at least a portion of a suture (e.g., a barbed suture) or other fixation device into tissue and/or mesh, for instance. An example of a disclosed use of the end effectors relates to positioning and/or fixation of laparoscopic ventral mesh. In such procedures, stay-sutures are typically tied to the corners and/or cardinal points by surgeons. The mesh and sutures are then rolled and introduced through the trocar and into the laparoscopic working space. The mesh is then unrolled, and positioned into place. If the sutures have needles attached, care must be taken during rolling, insertion, unrolling and positioning to help ensure the needle points do not damage the mesh (especially if the mesh includes an adhesion barrier layer) or to injure the patient or clinician. Once the mesh is properly unrolled and placed against the abdominal wall in the correct location, the stay-sutures are delivered across the abdominal wall (either from the inside toward the outside using an attached needle, or from the outside toward the inside using a suture passer introduced from outside the abdominal wall to grasp and pull the suture from the laparoscopic working space). After the stay-sutures have all been inserted, the clinician can finish fixating the mesh to the abdominal wall with a separate fixation device, such as a surgical tack applier.

The various end effectors disclosed herein help standardize surgical procedures (e.g., positioning and/or fixation of laparoscopic ventral mesh) and reduce the number of steps and time required to fixate the mesh with stay-sutures. The needle assemblies of the present disclosure allow a surgeon to introduce and pass a stay-suture through the implant and abdominal wall without the need to pre-attach the stay-sutures to needles, and without the risk of accidental needle sticks. The disclosed end effectors can used as a reload for use with standard surgical device handles to minimize the number of surgical devices (and the expense) needed for related surgical procedures.

Needle Styles

A variety of different types of needles may be used in combination with various embodiments of the present disclosure. While FIGS. 5-8 illustrate several types of needles, other types of needles may be used with the various end effectors disclosed herein. FIG. 5 illustrates a single needle 3000 a extending from a needle block 3002, and a barbed suture 3010 a operatively engaged (e.g., releasably engaged) therewith such that needle 3000 a and barbed suture 3010 a are insertable into an implant/tissue, and barbed suture 3010 a remains in engagement with the implant/tissue when needle 3000 a is retracted. A pledget 3003 a is also included adjacent proximal portions of needle 3000 a and barbed suture 3010 a, which may releasably hold barbed suture 3010 a, and which may act as a stop to help limit the distal advancement of barbed suture 3010 a into the implant/tissue. A distal portion of barbed suture 3010 a may be bent into a hollow cavity at a distal portion of needle 3000 a to help releasably retain barbed suture 3010 a in engagement with needle 3000 a. FIG. 6 illustrates a pair of needles 3000 b disposed in a parallel relationship extending from needle block 3002, and a suture 3010 b supported between needles 3000 b. Each needle of pair of needles 3000 b extends distally from needle block 3002 in a direction that is perpendicular to a distal face 3002 b of needle block 3002 (e.g., parallel to a longitudinal axis defined by an elongated portion of surgical device 100 engaged with needle block 3002). Pair of needles 3000 b is sufficiently sturdy to support suture 3010 b therebetween. A distal portion of suture 3010 b may be bent into a hollow cavity at a distal portion of needle 3000 b to help releasably retain suture 3010 b in engagement with needles 3000 b. It is envisioned that an adhesive is used to temporarily retain suture 3010 b in the illustrated position. In use, at least a portion of needles 3000 b and suture 3010 b are inserted into/through an implant/tissue to emplace suture 3010 b through the implant, for example. Suture 3010 b remains emplaced through the implant up retraction of needles 3000 b. Another suture 3010 b can then be positioned between needles of pair of needles 3000 b to allow for repeated use of pair of needles 3000 b. FIG. 7 illustrates a pair of needles 3000 c disposed in a bowed relationship extending from needle block 3002, and a suture 3010 c supported between needles 3000 c. Needles 3000 c extend radially outward from each other, such that distal ends 3002 c of needles 3000 c are farther apart than proximal ends 3004 c of needles 3000 c. Pair of needles 3000 c is sufficiently sturdy to support suture 3010 c therebetween. A distal portion of suture 3010 c may be bent into a hollow cavity at a distal portion of needle 3000 c to help releasably retain suture 3010 c in engagement with needles 3000 c. It is envisioned that an adhesive is used to temporarily retain suture 3010 c in the illustrated position. FIG. 8 illustrates a pair of needles 3000 d extending in an arcuate manner from needle block 3002, and supporting a suture 3010 d at least partially therebetween. Further, distal portions of suture 3010 d are engaged with distal portions of needles 3000 d. A distal portion of suture 3010 d may be bent into a hollow cavity at a distal portion of needle 3000 d to help releasably retain suture 3010 d in engagement with needles 3000 d. It is envisioned that an adhesive is used to temporarily retain suture 3010 d in the illustrated position. Pair of needles 3000 d may be used when a clinician desires to secure a relatively wide portion of an implant or tissue, as the distal tips of needles 3000 d are positioned far away from each other, with respect to pair of needles 3000 b and 3000 c. It is envisioned that needles 3000 a, 3000 b, 3000 c and 3000 d are made from a shape memory material, such as nitinol.

Needle Tip Attachment

Several different ways of coupling needles with suture are usable with embodiments of end effectors disclosed herein and are illustrated in FIGS. 9-20 . In FIG. 9 , a needle 4010 is shown including a flange 4012 projecting from a recess 4014 within a shaft of needle 4010. A distal end of flange 4012 may be able to move, flex or pivot away from recess 4014. A barbed suture 4000 is releasably held by flange 4012. In use, distal advancement of needle 4010 towards (e.g., into) tissue causes a corresponding distal advancement of barbed suture 4000. When needle 4010 is moved proximally or retracted, flange 4012 moves over or releases barbed suture 4000, thus leaving barbed suture 4000 within tissue, for example.

In FIGS. 10-11 , a needle 4020 is shown including an actuation suture 4022 extending through needle 4020 between a recess 4024 within a shaft of needle 4020 and a proximal opening 4026 of needle 4020. A distal portion of actuation suture 4022 releasably holds barbed suture 4000. In use, distal advancement of needle 4020 towards (e.g., into) tissue causes a corresponding distal advancement of barbed suture 4000. When actuation suture 4022 is moved proximally or retracted in the general direction of arrow “NTA,” distal portion of actuation suture 4022 moves in the general direction of arrow “NTB” or releases barbed suture 4000, thus leaving barbed suture 4000 within tissue, for example. It is envisioned that a proximal portion of actuation suture 4022 is engaged with an appropriate anchor portion of an end effector such that advancement of needle 4020 moves needle 4020 away from the anchor portion of the end effector, which causes a relative retraction of actuation suture 4022.

In FIGS. 12-13 , a needle 4030 is shown including a suture 4002 engaged with a cavity 4032 of needle 4030. Cavity 4032 of needle 4030 includes a first, proximal portion 4032 a and a second, distal portion 4032 b. As shown, distal portion 4032 b of cavity 4032 is deeper than proximal portion 4032 a of cavity 4032. Distal portion 4032 b of cavity 4032 is configured to releasably engage an enlarged or ball portion 4002 a of suture 4002, and proximal portion 4032 a of cavity 4032 is configured to releasably engage a body portion 4002 b of suture 4002. In use, distal advancement of needle 4030 towards (e.g., into) tissue causes a corresponding distal advancement of suture 4002. When needle 4030 is moved proximally or retracted, suture 4002 is able to slide in the general direction of arrow “NTA” relative to needle 4030, thus leaving suture 4002 within tissue, for example.

In FIGS. 14-15 , a needle 4040 is shown including a proximal portion 4040 a and a distal portion 4040 b. Proximal portion 4040 a and distal portion 4040 b of needle 4040 are releasably engaged with each other. Accordingly, moving proximal portion 4040 a proximally with respect to distal portion 4040 b, for example, can separate the two portions of needle 4040. A suture 4004 is engaged with a distal part of distal portion 4040 b of needle 4040. For example, a portion of suture 4004 is disposed within a cavity 4042 of distal portion 4040 b of needle 4040. In use, distal advancement of needle 4040 towards (e.g., into) tissue causes a corresponding distal advancement of suture 4004. When proximal portion 4040 a of needle 4040 is moved proximally or retracted, distal portion 4040 b of needle 4040 separates from proximal portion 4040 a, which results in distal portion 4040 b of needle 4040 and portions of suture 4004 remaining in tissue.

In FIG. 16 , a needle 4050 is shown including an angled axial cut 4052 disposed therein. Angled axial cut 4052 of needle 4050 is configured to frictionally and releasably hold a portion of suture 4004 therein. In use, distal advancement of needle 4050 towards (e.g., into) tissue causes a corresponding distal advancement of suture 4004. When needle 4050 is moved proximally or retracted, portions of suture 4004 release from angled axial cut 4052 and remain within tissue, for example. It is envisioned that needle 4050 may be manufactured using an angled mill.

In FIG. 17 , a needle 4060 is shown including a perpendicular axial cut 4062 disposed therein. Perpendicular axial cut 4062 of needle 4060 is configured to frictionally and releasably hold a portion of suture 4004 therein. In use, distal advancement of needle 4060 towards (e.g., into) tissue causes a corresponding distal advancement of suture 4004. When needle 4060 is moved proximally or retracted, portions of suture 4004 release from perpendicular axial cut 4062 and remain within tissue, for example. It is envisioned that needle 4060 may be manufactured using a cut off wheel.

In FIG. 18 , a needle 4070 is shown including a lateral aperture 4072 disposed therethrough. Lateral aperture 4072 of needle 4070 is configured to allow a portion of suture 4004 to be threaded therethrough. In use, distal advancement of needle 4070 towards (e.g., into) tissue causes a corresponding distal advancement of suture 4004. When needle 4070 is moved proximally or retracted, portions of suture 4004 are removed from lateral aperture 4072 and remain within tissue, for example. It is envisioned that a pin or wire travels through needle 4070 to sever suture 4004.

In FIGS. 19 and 20 , a needle 4080 is shown including a slotted tip 4082. Slotted tip 4082 of needle 4080 is configured to frictionally and releasably hold a portion of suture 4004 (FIG. 19 ) or multiple sutures (FIG. 20 ) therein. In use, distal advancement of needle 4080 towards (e.g., into) tissue causes a corresponding distal advancement of suture(s) 4004. When needle 4080 is moved proximally or retracted, portions of suture(s) 4004 are removed from slotted tip 4082 and remain within tissue, for example.

Spring Loaded Safety Cover

Referring now to FIGS. 21-33 , an embodiment of an end effector 1000 including a spring-loaded safety cover assembly is shown. End effector 1000 is configured for use in connection with surgical device 100. Generally, end effector 1000 is configured to prevent unintentional contact with a needle and/or a barbed suture within or extending distally from its outer tube. While FIGS. 21-33 illustrate a particular type of barbed suture 1002 and a particular type of needle 1006, end effector 1000 may be used with different types of sutures and/or needles.

With particular reference to FIGS. 21 and 22 , end effector 1000 includes a cover 1010, a first biasing element or spring 1020, a clevis 1030, a clutch 1040, a drive element 1050, a second biasing element or spring 1060 (FIG. 22 ), and an outer tube 1070.

Cover 1010 of end effector 1000 includes a cylindrical body portion 1012, a pair of arms 1014 extending proximally from body portion 1012, a lip 1016 extending radially inward from a proximal portion of each arm 1014, and a tab 1018 extending radially outward from a proximal portion of one the arms 1014.

Clevis 1030 of end effector 1000 includes a body portion 1032, a pair of arms 1034 extending distally from body portion 1032, a flange 1036 extending radially outward from body portion 1032, and a plurality of teeth 1038 disposed on a proximal end of body portion 1032. First biasing element 1020 is positioned between arms 1034 of clevis 1030 and arms 1014 of cover 1010. Body portion 1032 of clevis 1030 engages a proximal end of first biasing element 1020; lips 1016 of cover 1010 engage a distal end of first biasing element 1020.

A proximal portion 1007 of needle 1006 is positioned radially inward of body portion 1032 of clevis 1030. Further, flat portions 1007 a (see FIG. 28 ) of proximal portion 1007 of needle 1006 engage corresponding flat portions 1037 of body portion 1032 of clevis 1030, thus limiting or preventing rotation therebetween. Needle 1006 also includes a distal tip 1008 and a hook 1009. Distal tip 1008 of needle 1006 is configured to pierce tissue, and hook 1009 of needle 1006 is configured to engage a portion of barbed suture 1002.

Clutch 1040 of end effector 1000 includes a body portion 1042, a plurality of teeth 1044 disposed on a distal end of body portion 1042, and a proximal surface 1046. Teeth 1044 of clutch 1040 are configured to engage teeth 1038 of clevis 1030.

Drive element 1050 of end effector 1000 is mechanically engaged (e.g., operatively coupled, directly affixed, etc.) to drive rod 150 of surgical device 100 of the present disclosure. Drive element 1050 includes a proximal end 1052, a distal end 1054, and a groove 1056. Groove 1056 of drive element 1050 is configured to engage a shipping wedge (not shown) to help lock drive element 1050 in place with respect to outer tube 1070, for example. Proximal end 1052 of drive element 1050 is configured to engage the drive rod. Distal end 1054 of drive element 1050 is mechanically engaged with second biasing element 1060. Proximal surface 1046 of clutch 1040 is positioned to engage second biasing element 1060. That is, second biasing element 1060 is positioned between proximal surface 1046 of clutch 1040 and distal end 1054 of drive element 1050.

Outer tube 1070 of end effector 1000 includes a proximal notch 1072, a cutout 1074, and a longitudinal groove 1076 having an angled slot 1078 extending therefrom. Outer tube 1070 is configured for positioning radially outward of, and to at least partially contain, at least portions of barbed suture 1002, needle 1006, cover 1010, first biasing element 1020, clevis 1030, clutch 1040, drive element 1050, and second biasing element 1060.

As shown in FIG. 23 , prior to use, a portion of proximal notch 1072 is longitudinally aligned with groove 1056 of drive element 1050 such that a shipping wedge (not shown) can extend through proximal notch 1072 and into engagement with groove 1056. The engagement between drive element 1050, second biasing element 1060, clutch 1040, and clevis 1030 is also shown in FIG. 23 . As shown, second biasing element 1060 is disposed between drive element 1050 and clutch 1040, thus transferring rotational movement from drive element 1050 (and drive rod 150, as discussed above) to clutch 1040. Additionally, second biasing element 1060 enacts a distal force onto clutch 1040 to help maintain engagement between teeth 1044 of clutch 1040 and teeth 1038 of clevis 1030. Accordingly, rotation of clutch 1040 results in a corresponding rotation of clevis 1030.

With particular reference to FIG. 24 , prior to use, tab 1018 of cover 1010 of end effector 1000 is disposed within angled slot 1078 of longitudinal groove 1076 of outer tube 1070. The engagement between tab 1018 and angled slot 1078 prevents cover 1010 from distally advancing with respect to outer tube 1070. In this position, cover 1010 is in its distal-most position where it radially surrounds distal tip 1008 of needle 1006 and barbed suture 1002.

In use, in response to at least a partial actuation of the trigger, the drive rod 150 rotates, as discussed above. Rotation of the drive rod results in a corresponding rotation of drive element 1050, clutch 1040, and clevis 1030. A predetermined amount of rotation (e.g., about) 90° of clevis 1030 causes flange 1036 of clevis 1030 to rotate in the general direction of arrow “FLA” from a first position within cutout 1074 of outer tube 1070, to a second position where flange 1036 engages a lateral wall 1074 a of cutout 1074 of outer tube 1070 (see FIG. 27 ). Engagement between flange 1036 and lateral wall 1074 a prevents continued rotation of clevis 1030 with respect to outer tube 1070 in the direction of arrow “FLA.” Accordingly, when clevis 1030 continues to rotate in the direction of arrow “FLA” (e.g., in response to continued or additional actuation of the trigger), outer tube 1070 also rotates in the direction of arrow “FLA” with respect to cover 1010.

Rotation of outer tube 1070 in the direction of arrow “FLA” with respect to cover 1010 causes angled slot 1078 of outer tube 1070 to disengage from tab 1018 of cover 1010, which causes tab 1018 of cover 1010 to be within longitudinal groove 1076 of outer tube 1070. When tab 1018 of cover 1010 is within longitudinal groove 1076 of outer tube 1070, cover 1010 is in an unlocked position.

Next, a user presses a distal tip of surgical device 100 against tissue and/or mesh to emplace barbed suture 1002 at least partially therein and/or therethrough. More particularly, the user pushes a distal edge 1010 a of cover 1010 against the tissue/mesh, which causes cover 1010 to move proximally with respect to outer tube 1070 against the bias of first biasing element 1020. As cover 1010 moves proximally, tab 1018 of cover 1010 travels proximally within longitudinal groove 1076 of outer tube 1070. The proximal movement of cover 1010 exposes barbed suture 1002 and distal tip 1008 of needle 1006, at least portions of which extend distally beyond outer tube 1070, and enables barbed suture 1002 and distal tip 1008 to penetrate the tissue/mesh.

As the user moves the surgical device 100 proximally (e.g., after barbed suture 1002 has been emplaced in tissue/mesh), first biasing element 1020 urges cover 1010 distally with respect to outer tube 1070. Cover 1010 continues to move distally while tab 1018 of cover 1010 travels within longitudinal groove 1076 of outer tube 1070 until tab 1018 contacts a distal edge 1076 a of longitudinal groove 1076, preventing further distal movement of cover 1010 with respect to outer tube 1070 (see FIGS. 31 and 32 ). Further, as tab 1018 of cover 1010 contacts distal edge 1076 a of longitudinal groove 1076, at least one proximal finger 1019 of cover 1010 enters an aperture 1071 of outer tube 1070 (e.g., in response to a radial outward bias of arms 1014), thus effectively locking the longitudinal position of cover 1010 with respect to outer tube 1070 (see FIGS. 31 and 33 ).

Folding Safety Cover

With reference to FIGS. 34-37 , a safety cover assembly 2800 for use with various end effectors disclosed herein is shown. A cover 2810 of safety cover assembly 2800 is configured to pivot between a first position where safety cover 2800 helps prevent unintentional contact with a needle 2806 (FIG. 34 ), and a second position where safety cover 2800 allows needle 2806 to be driven into tissue (FIG. 35 ).

With particular reference to FIG. 37 , safety cover assembly 2800 includes cover 2810, a drive member 2820, a biasing member 2830, a gear 2840, a clutch 2850, and an outer tube 2870. Cover 2810 includes a proximal lip 2812, and an angled blocking portion 2814 (FIG. 36 ). Proximal lip 2812 is configured to pivotably engage a distal finger 2872 of outer tube 2870 to facilitate pivotal movement therebetween. Blocking portion 2814 of cover 2810 is configured to selectively engage a portion of needle 2806 and/or clutch 2850. The engagement between blocking portion 2814 and needle 2806 and/or clutch 2850 restricts the biasing force supplied by biasing member 2830.

Biasing member 2830 of cover assembly 2800 includes a first portion 2832 engaged with (e.g., affixed to) a proximal portion of needle 2086, and a second portion 2834 engaged with (e.g., affixed to) a proximal portion of cover 2810. Biasing member 2830 is configured to bias cover 2810 away from needle 2806 toward its second position (FIG. 35 ). As noted above, the engagement between blocking portion 2814 of cover 2810 and needle 2806 and/or clutch 2850 resists the biasing force supplied by biasing member 2830.

Drive member 2820, gear 2840, and clutch 2850 of cover assembly 2800 are disposed radially within outer tube 2870. Drive member 2820 is mechanically engaged (e.g., operatively coupled, directly affixed, etc.) to drive rod 150 of surgical device 100 of the present disclosure. Accordingly, rotation of the drive rod 150 in the general direction of arrow “FSA” results in a corresponding rotation of drive member 2820. Additionally, drive member 2820 is configured to engage gear 2840 such that rotation of drive member 2820 in the general direction of arrow “FSA” causes a corresponding rotation of gear 2840 in the general direction of arrow “FSA.” Further, gear 2840 is configured to engage clutch 2850 such that rotation of gear 2840 in the general direction of arrow “FSA” causes a corresponding rotation of clutch 2850.

With reference to FIGS. 35-37 , clutch 2850 of cover assembly 2800 is configured to engage a portion of cover 2810, such that rotation of clutch 2850 in the general direction of arrow “FSA” causes a corresponding rotation of cover 2810 in the general direction of arrow “FSA.” With particular reference to FIG. 36 , rotation of cover 2810 in the general direction of arrow “FSA” causes blocking portion 2814 of cover 2810 to rotate with respect to needle 2806, such that blocking portion 2814 no longer resists the force exerted by biasing member 2830 onto cover 2810. Accordingly, rotation of drive rod 150 in the general direction of arrow “FSA” causes a corresponding rotation of drive member 2820, gear 2840, clutch 2850 and cover 2810, thus causing cover 2810 to pivot in the general direction of arrow “FSB” (FIG. 35 ) toward its second position, since blocking portion 2814 no longer resists the force exerted by biasing member 2830 onto cover 2810. Additionally, proximal teeth 2852 of clutch 2850, which mate with distal teeth 2842 of gear 2840, are configured to skip following additional rotation of gear 2840 after cover 2810 moves toward its second position.

When cover 2810 is in its second position, needle 2806 is exposed and is able to be driven into tissue, for example. If a user desires to move cover 2810 back toward its first position, the user may use a secondary instrument or the user's hand, to pivot cover 2810 toward its first position against the bias of biasing member 2830. The cover 2810 can be rotated in the general direction of arrow “FSC” (FIG. 35 ) such that blocking portion 2814 engages needle 2806 and resists the force exerted by biasing member 2830.

Preloaded Spring

Referring now to FIGS. 38-49 , an embodiment of an end effector 1100 including a pre-loaded spring assembly is shown. End effector 1100 is configured for use in connection with surgical device 100. Generally, end effector 1100 is configured to advance a needle 1106 and to eject a barbed suture 1102 towards tissue. While FIGS. 38-49 illustrate a particular type of barbed suture 1102 and a particular type of needle 1106, end effector 1100 may be used with different types of sutures and/or needles.

With particular reference to FIG. 39 , end effector 1100 includes a drive assembly 1110, a proximal stop 1120, a distal stop 1130, a helix or coil 1140, a first biasing element 1150, a second biasing element 1160, a pair of rings 1165, and an outer tube 1170.

Drive assembly 1110 of end effector 1100 is mechanically engaged (e.g., operatively coupled, directly affixed, etc.) to drive rod 150 of surgical device 100 of the present disclosure. Drive assembly 1110 includes a proximal portion 1112, a body portion 1114, members 1116, a first arm 1118 extending distally from body portion 1114, and a second arm 1119 extending distally from body portion 1114.

Proximal stop 1120 of end effector 1100 is positioned radially outward of body portion 1114 of drive assembly 1110, and includes a body portion 1122, and a finger 1124. Finger 1124 extends radially inward from body portion 1122, is movable in a radially outward direction with respect to body portion 1122, and may be biased radially inward. As discussed below, finger 1124 is configured to move between its first, radially inward position (FIG. 40 ) toward its second, radially outward position (FIG. 42 ) in response to contact by first arm 1118 and/or second arm 1119 of drive assembly 1110. Members 1116 of drive assembly 1110 are configured to retain the longitudinal position of drive assembly 1110 by being positioned proximally of a first ring 1165 a and distally of a second ring 1165 b (see FIG. 38 ).

Distal stop 1130 of end effector 1100 is positioned radially outward of at least part of first arm 1118 of drive assembly 1110, and includes a body portion 1132, a protrusion 1134 extending radially inward from body portion 1132, and a helical groove 1136 disposed within body portion 1132. With particular reference to FIGS. 44-46 , protrusion 1134 of distal stop 1130 includes a first stop surface 1134 a and a second stop surface 1134 b, which are each configured to engage first arm 1118 of drive assembly 1110. Additionally, distal stop 1130 is rotationally supported within outer tube 1170.

Helix or coil 1140 of end effector 1100 extends between proximal stop 1120 and distal stop 1140 and radially within outer tube 1170. Helix or coil 1140 is stationary with respect to outer tube 1170, and is configured to engage helical groove 1136 of distal stop 1130 such that distal stop 1130 can move longitudinally and rotationally within outer tube 1170 and with respect to outer tube 1170.

Needle 1106 is disposed radially inward of drive assembly 1110, and includes a body portion 1106 a, a proximal extension 1106 b extending proximally from body portion 1106 a, an elongated portion 1106 c, a hook 1106 d, and a distal tip 1106 e. Body portion 1106 a is configured to move longitudinally within outer tube 1170 and with respect to outer tube 1170. Distal tip 1106 e of needle 1106 is configured to pierce tissue, and hook 1106 d of needle 1106 is configured to engage a portion of barbed suture 1102.

First biasing element 1150, e.g., a compression spring, of end effector 1100 includes a proximal portion 1152 and a distal portion 1154. Proximal portion 1152 of first biasing element 1150 is positioned within body portion 1114 of drive assembly 1110. Distal portion 1154 of first biasing element 1150 is positioned radially outward of proximal extension 1106 b of needle 1106. A distal end 1156 of first biasing element 1150 is positioned in contact with a proximal surface 1106 aa of body portion 1106 a of needle 1106. First biasing element 1150 is configured to bias needle 1106 distally with respect to outer tube 1170.

Second biasing element 1160, e.g., a compression spring, of end effector 1100 includes a proximal portion 1162 and a distal portion 1164. Proximal portion 1162 of second biasing element 1160 is positioned within body portion 1114 of drive assembly 1110. Distal portion 1164 of second biasing element 1160 is positioned proximally of proximal extension 1106 b of needle 1106. A distal end 1166 of second biasing element 1160 is positioned in contact with a proximal surface 1106 ba of proximal extension 1106 b of needle 1106. Second biasing element 1160 is configured to bias needle 1106 distally with respect to outer tube 1170.

Rings 1165 (e.g., O-rings) of end effector 1100 are positioned radially outward of proximal body portion 1112 of drive assembly 1110. Rings 1165 help maintain appropriate spacing between drive assembly 1110 and outer tube 1170, and help facilitate rotation of drive assembly 1110 with respect to outer tube 1170.

Outer tube 1170 of end effector 1100 includes a proximal notch 1172, and a lip 1174 extending radially inward from a distal end of outer tube 1170. Outer tube 1170 is configured for positioning radially outward of, and for at least partially retaining, at least portions of barbed suture 1102, needle 1106, drive assembly 1110, proximal stop 1120, distal stop 1130, helix or coil 1140, first biasing element 1150, second biasing element 1160, and pair of rings 1165.

As shown in FIG. 40 , prior to use, finger 1124 of proximal stop 1120 is in contact with a distal face 1106 ab of body portion 1106 a of needle 1106. This contact between finger 1124 and needle 1106 resists the distal bias of first biasing element 1150 and second biasing element 1160, and thus prevents needle 1106 from distally translating with respect to outer tube 1170.

In use, in response to at least a partial actuation of the trigger 112 of surgical device 100, drive rod 150 of surgical device 100 rotates, as discussed above. With reference to FIGS. 40-42 , rotation of drive rod 150 results in a corresponding rotation of drive assembly 1110 of end effector 1100 with respect to outer tube 1170 and with respect to proximal stop 1120. A predetermined amount of rotation (e.g., about 90°) of drive assembly 1110 causes cam member 1116 of drive assembly 1110 to rotate in the general direction of arrow “CMA” (FIG. 42 ) from a first position where first arm 1118 and second arm 1119 are free from contact with finger 1124 of proximal stop 1120, to a second position where first arm 1118 and/or second arm 1119 engage(s) finger 1124. Engagement between first arm 1118 or second arm 1119 and finger 1124 causes finger 1124 to flex radially outward in the general direction of arrow “FA” in FIG. 42 . Once finger 1124 has flexed or moved radially outward, finger 1124 no longer resists the distal bias of first biasing element 1150 and second biasing element 1160, thus resulting in needle 1106 distally translating with respect to outer tube 1170.

As needle 1106 travels distally, a distal portion of needle 1106 (e.g., distal tip 1106 e) and barbed suture 1102 distally exit outer tube 1170, and engage tissue/mesh, for instance. Distal movement of needle 1106 with respect to outer tube 1170 continues until distal face 1106 ab of body portion 1106 a of needle 1106 contacts a proximal edge 1138 of distal stop 1130. Engagement between needle 1106 and distal stop 1130 resists the distal bias of first biasing element 1150 and second biasing element 1160, thus resulting in needle 1106 ceasing its distal travel with respect to outer tube 1170.

Additionally, and with reference to FIGS. 41 and 43-46 , after drive assembly 1110 of end effector 1100 initially rotates (e.g., about 90°) and engages finger 1124 of proximal stop 1120, drive assembly 1110 continues to rotate (e.g., up to about 270°), and first arm 1118 thereof also rotates (in the general direction of arrow “FAB” in FIGS. 45 and 46 ) until first arm 1118 contacts second stop surface 1134 b of protrusion 1134 of distal stop 1130. Continued rotation of drive assembly 1110, and thus its first arm 1118, causes a corresponding rotation of distal stop 1130 in the general direction of arrow “FAB.”

Referring now to FIGS. 47-49 , the engagement between helical groove 1136 of distal stop 1130 and helix or coil 1140 causes rotation of distal stop 1130 in the general direction of arrow “FAB” (FIGS. 45 and 46 ) causes distal stop 1130 to move proximally with respect to outer tube 1170 in the general direction of arrow “DSA” (FIG. 48 ). As additionally shown, proximal movement of distal stop 1130 results in a corresponding proximal movement of needle 1106 due to the engagement between distal stop 1130 and distal face 1106 ab of body portion 1106 a of needle 1106. Needle 1106 is movable proximally until its distal tip 1106 e is longitudinally aligned with or proximal of a distal end of outer tube 1170, thereby reducing the possibility of a user unintentionally contacting needle 1106.

Swing Lock Helix Drive

Referring now to FIGS. 50-58 , an embodiment of an end effector 2300 is shown. End effector 2300 is configured for use in connection with surgical device 100. Generally, end effector 2300 is configured to advance a suture 2302 and a needle assembly including needle 2306 towards tissue. While FIGS. 50-58 illustrate a particular type of suture 2302 and needle 2306, end effector 2000 may be used with different types of sutures (e.g., barbed sutures) and needles.

With particular reference to FIG. 51 , end effector 2300 includes a driver 2310, a drive assembly 2320, a spring 2330, an end cap 2340, a lock 2350, a ring 2360, pins 2365, and an outer tube 2370.

Drive assembly 2320 of end effector 2300 is mechanically engaged (e.g., operatively coupled, directly affixed, etc.) to drive rod 150 of surgical device 100 of the present disclosure. Rotation of the drive rod 150 in the general direction of arrow “SLA” in FIG. 54 results in a corresponding rotation of drive assembly 2320. Drive assembly 2320 includes an aperture 2322 (FIG. 53 ), a proximal recess 2323, and a body portion 2324 including a helical groove 2326. Aperture 2322 of drive assembly 2320 is configured to engage the drive rod 150 of the surgical device 100. Proximal recess 2323 of drive assembly 2320 is configured to rotationally engage pins 2365, which extend through apertures of outer tube 2370 such that drive assembly 2320 is longitudinally fixed with respect to outer tube 2370. Helical groove 2326 of drive assembly 2320 is configured to rotationally engage an engagement structure 2314 of driver 2310. Additionally, ring 2360 of end effector 2300 is fixed to drive assembly 2320.

Driver 2310 of end effector 2300 includes a body portion 2312, engagement structure 2314 disposed at a proximal portion of body portion 2312, a pair of longitudinal slots 2316 extending therethrough, and a distal slot 2318. Engagement structure 2314 of driver 2310 is configured to engage helical groove 2326 of drive assembly 2320. While engagement structure 2314 is illustrated as a helical thread, engagement structure 2314 may also be a pin or the like. Due to the engagement between engagement structure 2314 and helical groove 2326 of drive assembly 2320, rotation of drive assembly 2320 results in longitudinal translation of driver 2310. Longitudinal slots 2316 of driver 2310 are configured to slidingly receive a pin 2372, such that pin 2372 helps guide longitudinal translation of driver 2310 with respect to outer tube 2370. Distal slot 2318 of driver 2310 is configured to allow a portion of lock 2350 to pass therethrough.

Biasing element or spring 2330 (e.g., a compression spring) of end effector 2300 is disposed proximally of and in contact with a proximal face 2342 of end cap 2340, and distally of and in contact with a proximal base 2306 a of needle 2306. Spring 2330 is configured to bias needle 2306 proximally with respect to outer tube 2370.

End cap 2340 of end effector 2300 is disposed radially within outer tube 2370 and includes proximal face 2342, a body portion 2344, a distal lip 2346, and a groove 2348. With particular reference to FIG. 55 , a distal end of driver 2310 of end effector 2300 is configured to be positioned radially outward of body portion 2344 of end cap 2340, and a distal-most edge 2312 a of body portion 2312 of driver 2310 is configured to abut distal lip 2346 of end cap 2340. Groove 2348 of end cap 2340 includes a first section 2348 a configured to slidingly receive a portion of needle 2306, and a second section 2348 b configured to receive a portion of lock 2350.

Lock 2350 of end effector 2300 is pivotable or rotatable at least partially within second section 2348 b of groove 2348 with respect to end cap 2340. Moreover, lock 2350 is pivotable between a first position (FIG. 55 ) where an entirety of lock 2350 is disposed radially inward of outer tube 2370, and a second position (FIG. 57 ) where a portion of lock 2350 extends through distal slot 2318 of driver 2310 and through a distal slot 2374 of outer tube 2370 such that a portion of lock 2350 is disposed radially outward of outer tube 2370.

In its first position, a contact portion 2352 of lock 2350 is configured to engage, abut or contact a hub 2306 b of needle 2306. The proximal force exerted by spring 2330 on needle 2306 causes needle 2306 to exert a proximal force on lock 2350, which would cause lock 2350 to pivot about a lock pin 2354 in the general direction of arrow “SLB” in FIG. 55 . However, the engagement between a blocking portion 2356 of lock 2350 and an inner wall of outer tube 2370 prevents lock 2350 from pivoting towards its second position. Thus, the engagement between lock 2350 and proximal hub 2306 b of needle 2306 prevents spring 2330 from moving needle 2306 proximally with respect to end cap 2340.

With particular reference to FIG. 57 , in response to a predetermined amount of distal travel of driver 2310 of end effector 2300 and end cap 2340 of end effector 2300, lock 2350 is able to move toward its second position. That is, after driver 2310 and end cap 2340 have been distally advanced into a position where blocking portion 2356 of lock 2350 is axially aligned with distal slot 2374 of outer tube 2370, the inner wall of outer tube 2370 no longer resists the pivoting force exerted by spring 2330 onto lock 2350. Thus, lock 2350 is able to pivot in the general direction of arrow “SLB” such that a portion of lock 2350 extends through distal slot 2374 of outer tube 2370. Here, contact portion 2352 of lock 2350 is no longer in engagement with proximal hub 2306 b of needle 2306. Accordingly, the proximal force exerted by spring 2330 onto needle 2306 is no longer opposed, and needle 2306 translates proximally with respect to outer tube 2370.

Ring 2360 (e.g., an O-ring) of end effector 2300 is positioned radially outward of a proximal portion of drive assembly 2320. Ring 2360 helps maintain appropriate spacing between drive assembly 2320 and outer tube 2370, and helps facilitate rotation of drive assembly 2320 with respect to outer tube 2370.

Outer tube 2370 of end effector 2300 is configured for positioning radially outward of at least portions of suture 2302, needle 2306, driver 2310, drive assembly 2320, spring 2330, end cap 2340, lock 2350, and ring 2360.

In use, in response to at least a partial actuation of the trigger 112 of surgical device 100, the drive rod 150 rotates, as discussed above. With reference to FIGS. 54-55 , initial rotation of the drive rod 150 results in a corresponding rotation of drive assembly 2320 of end effector 2300 with respect to outer tube 2370 of end effector 2300 in the general direction of arrow “SLA” in FIG. 54 . Due to the engagement between helical groove 2326 of drive assembly 2320 and engagement structure 2314 of driver 2310, rotation of drive assembly 2320 in the general direction of arrow “LSA” results in distal translation of driver 2310 with respect to outer tube 2370 in the general direction of arrow “SLC” in FIG. 54 . Distal translation of driver 2310 causes a corresponding distal translation of end cap 2340, lock 2350, needle 2306 and suture 2302.

Continued rotation of drive assembly 2320 in the general direction of arrow “SLA” causes continued distal advancement of driver 2310, end cap 2340, lock 2350, needle 2306 and suture 2302 until a distal tip 2306 c of needle 2300 extends a sufficient distance distally beyond a distal end of outer tube 2370. Thus, to insert needle 2306 into tissue, a distal end of end effector 2300 is positioned adjacent or in contact with tissue, and the trigger of surgical device 100 is actuated (e.g., a full actuation of the trigger), thus distally advancing a portion of needle 2306 into tissue.

With particular reference to FIGS. 56 and 57 , after a predetermined amount of rotation of drive assembly 2320 and distal travel of driver 2310, end cap 2340, lock 2350, needle 2306 and suture 2302 (e.g., corresponding to when distal tip 2306 c is sufficiently advanced within tissue), blocking portion 2356 of lock 2350 is axially aligned with distal slot 2374 of outer tube 2370, which allows lock 2350 to pivot toward its second position (FIG. 57 ). In this position, lock 2350 no longer resists the proximal force exerted by spring 2330 on needle 2306, thus permitting needle 2306 to move proximally with respect to outer tube 2370 in the general direction of arrow “SLD” in FIG. 58 . That is, since the proximal force exerted by spring 2330 is no longer opposed by the engagement between lock 2350 and outer tube 2370, needle 2306 is able to move proximally in the general direction of arrow “SLD” until needle 2306 reaches the approximate position shown in FIG. 58 . As shown, suture 2302 remains outside of end effector 2300 (e.g., at least partially within tissue).

Stored Energy Spring

Referring now to FIGS. 59-67 , an embodiment of an end effector 2700 including a pre-loaded spring assembly is shown. End effector 2700 is configured for use in connection with surgical device 100. Generally, end effector 2700 is configured to advance needles 2706 and to eject a barbed suture 2702 towards tissue. While FIGS. 59-67 illustrate a particular type of barbed suture 2702 and a particular type of needle 2706, end effector 2700 may be used with different types of sutures and/or needles.

With particular reference to FIG. 60 , end effector 2700 includes a drive assembly 2710, a needle assembly 2720, a biasing element 2730, a helix or coil assembly 2740, a pair of rings 2765, and an outer tube 2770.

Drive assembly 2710 of end effector 2700 is mechanically engaged (e.g., operatively coupled, directly affixed, etc.) to drive rod 150 of surgical device 100 of the present disclosure. Drive assembly 2710 includes a proximal portion 2712, a body portion 2714, and a pair of arms 2716 extending distally from body portion 2714.

Needle assembly 2720 of end effector 2700 includes a body portion 2722, a pair of grooves 2724 extending longitudinal through body portion 2722, and a pin 2726 extending laterally through body portion 2722. Needles 2706 extend distally from body portion 2722 and support (e.g., frictionally support) barbed suture 2702 therebetween.

Biasing element 2730, e.g., a compression spring, of end effector 2700 includes a proximal portion 2732 and a distal portion 2734. Proximal portion 2732 of biasing element 2730 is positioned in contact with (e.g., engaged with or affixed to) a distal end of body portion 2714 of drive assembly 2710. Distal portion 2734 of biasing element 2730 is positioned in contact with (e.g., engaged with or affixed to) a proximal end of needle assembly 2720. Biasing element 2730 is configured to bias needle assembly 2720, needles 2706 and barbed suture 2702 distally with respect to outer tube 2770.

Helix or coil assembly 2740 of end effector 2700 is generally cylindrical in shape, and is hollow. Helix or coil assembly 2740 includes a pair of longitudinal slots 2742 extending from a proximal end 2740 a of helix or coil assembly 2740 toward a distal end 2740 b of helix or coil assembly 2740. Each longitudinal slot 2742 of helix or coil assembly 2740 is configured to slidingly engage a portion of pin 2726 extending through needle assembly 2720, such that needle assembly 2720 is longitudinally translatable with respect to helix or coil assembly 2740. Helix or coil assembly 2740 also includes a helical thread 2744 configured to rotationally engage a helical groove 2772 of outer tube 2770, such that helix or coil assembly 2740 is rotatable and longitudinally translatable with respect to outer tube 2770.

Rings 2765 (e.g., O-rings) of end effector 2700 are positioned radially outward of portions of drive assembly 2710. Rings 2765 help maintain appropriate spacing between drive assembly 2710 and outer tube 2770, and help facilitate rotation of drive assembly 2710 with respect to outer tube 2770.

Outer tube 2770 of end effector 2700 is configured for positioning radially outward of at least portions of barbed suture 2702, needles 2706, drive assembly 2710, needle assembly 2720, biasing element 2730, helix or coil assembly 2740, and pair of rings 2765. Helical groove 2772 of outer tube 2770 is configured to rotationally engage helix or coil assembly 2740, such that helix or coil assembly 2740 is rotatable and longitudinally translatable with respect to outer tube 2770.

As shown in FIG. 63 , prior to use, pin 2726 of needle assembly 2720 is in contact with proximal end 2740 a of helix or coil assembly 2740. This contact between pin 2726 and helix or coil assembly 2740 resists the distal bias of biasing element 2730, and thus prevents needle assembly 2720 from distally translating with respect to outer tube 2770. Additionally, in its initial position, helix or coil assembly 2740 is disposed at a distal position with respect to outer tube 2770, and helical thread 2744 of helix or coil assembly 2740 is engaged with helical groove 2772 of outer tube 2770.

In use, in response to at least a partial actuation of the trigger 112 of surgical device 100, drive rod 150 of surgical device 100 rotates, as discussed above. With reference to FIGS. 63-66 , initial rotation of the drive rod 150 results in a corresponding rotation of drive assembly 2710 with respect to outer tube 2770 and with respect to helix or coil assembly 2740. Rotation of drive assembly 2710 with respect to outer tube 2770 causes a corresponding rotation of needle assembly 2720 with respect to outer tube 2770 due to the engagement between arms 2716 of drive assembly 2710 and grooves 2724 of needle assembly 2720. A predetermined amount of rotation (e.g., about 90°) of drive assembly 2770, and thus needle assembly 2720, in the general direction of arrow “SEA” (FIG. 63 ) causes pin 2724 of needle assembly 2720 to rotate along proximal end 2740 a of helix or coil assembly 2740 until pin 2724 is aligned with longitudinal slots 2742 of helix or coil assembly 2740.

In this position, where pin 2724 is aligned with longitudinal slots 2742, pin 2724 is no longer in contact with proximal end 2740 a of helix or coil assembly 2740, thus there is nothing significantly resisting the distally-directed force of biasing element 2730. Accordingly, biasing element 2730 forces needle assembly 2720 to move distally with respect to helix or coil assembly 2740, guided by the engagement between pin 2724 and longitudinal slots 2742 (see FIG. 64 ).

As needle assembly 2720 and needles 2706 travel distally, a distal portion of needles 2706 (e.g., distal tip 2706 a) and barbed suture 2702 distally exit outer tube 2770, and engage tissue/mesh, for instance. Distal movement of needle assembly 2720 and needles 2706 with respect to outer tube 2770 continues until pin 2724 contacts distal ends 2742 a (FIG. 66 ) of longitudinal slots 2742. Engagement between pin 2724 and distal ends 2742 a of longitudinal slots 2742 resists the distal bias of biasing element 2730, thus resulting in needle assembly 2720 and needles 2706 ceasing their distal travel with respect to outer tube 2770.

Additionally, and with reference to FIGS. 65-67 , after drive assembly 2710 initially rotates (e.g., about 90°) and causes needle assembly 2720 and needles 2706 to travel distally (as discussed above), drive assembly 2710 continues to rotate (e.g., up to about 270°) in the general direction of arrow “SEA” in response to continued actuation of the trigger 112, for example. Continued rotation of drive assembly 2710 causes a corresponding rotation of needle assembly 2720 and pin 2724 with respect to outer tube 2770. Rotation of needle assembly 2720 now causes a corresponding rotation of helix or coil assembly 2740 due to the engagement between needle 2724 and a sidewall 2742 b of longitudinal slot 2742.

Moreover, when helix or coil assembly 2740 rotates with respect to outer tube 2770, the engagement between helical thread 2744 of helix or coil assembly 2740 and helical groove 2772 of outer tube 2770 causes helix or coil assembly 2740 to move proximally with respect to outer tube 2770 in the general direction of arrow “SEB” in FIG. 67 . Due to the engagement between distal ends 2742 a of longitudinal slots 2742 of helix or coil assembly 2740 and pin 2724 of needle assembly 2720, proximal movement of helix or coil assembly 2740 also causes a corresponding proximal movement of needle assembly 2720. Needle assembly 2720 and needles 2706 are movable proximally until distal tips 2706 a of needles 2706 are longitudinally aligned with or proximal of a distal end of outer tube 2770, thereby reducing the possibility of a user unintentionally contacting needles 2706.

While some embodiments of end effectors described herein have been described as being re-usable, it is contemplated that any of the end effectors described herein are configured for release, reloading and/or reuse.

In accordance with the present disclosure, it is contemplated that an electromechanical control module may replace handle assembly 110 to actuate the surgical device 100. The electromechanical control module may include at least one microprocessor, at least one drive motor controllable by the at least one microprocessor, and a source of power for energizing the at least one microprocessor and the at least one drive motor.

As can be appreciated, securement of any of the components of the presently disclosed devices can be effectuated using known fastening techniques such welding, crimping, gluing, etc.

Additionally, the present disclosure includes methods of using the disclosed end effectors, and methods of performing a surgical procedure utilizing the disclosed end effectors. An example of a disclosed method includes using a disclosed end effector to advance stay-sutures (e.g., four stay-sutures) through an implant (e.g., mesh) to hold the implant in a desired position, removing the end effector from the handle portion of a surgical instrument, engaging a second end effector with the same handle portion of the surgical instrument used to advance stay-sutures through the implant, and advancing tacks from the second end effector through the implant.

The present disclosure also includes surgical systems. A disclosed surgical system includes a surgical device, a first end effector and a second end effector. The surgical device includes a handle assembly and an elongated portion extending distally from the handle assembly. The first end effector is configured to releasably engage a distal portion of the elongated portion, and includes a drive assembly and a needle assembly. The drive assembly is configured to advance and retract the needle assembly upon at least a partial actuation of the handle assembly of the surgical device. The second end effector is configured to releasably engage the distal portion of the elongated portion, includes a plurality of tacks therein, and is configured to distally advance the plurality of tacks upon at least a partial actuation of the handle assembly of the surgical device.

The present disclosure also includes surgical kits including a plurality of first end effectors (e.g., pre-loaded with stay-sutures, barbed sutures, etc.), a plurality of second end effectors (e.g., pre-loaded with a plurality of tacks), and a surgical device. The surgical device includes a handle assembly and an elongated portion extending distally from the handle assembly. Each of the first end effectors and second end effectors is configured to releasably engage a distal portion of the elongated portion of the surgical device.

The various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prepare the patient for surgery and configure the robotic surgical system with one or more of the surgical instruments disclosed herein while another surgeon (or group of surgeons) remotely controls the instrument(s) via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.

It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto. 

What is claimed is:
 1. An end effector for use with a surgical device, the end effector comprising: a drive assembly; a needle assembly disposed in mechanical cooperation with the drive assembly, wherein rotation of the drive assembly in a first direction causes a corresponding rotation of the needle assembly, the needle assembly including a pin; a helix assembly disposed in mechanical cooperation with the needle assembly, the helix assembly including a proximal end and a longitudinal slot; and a biasing element disposed in mechanical cooperation with the needle assembly and configured to bias the needle assembly distally with respect to the drive assembly; wherein the needle assembly is movable with respect to the helix assembly from a first position where the pin is out of alignment with the longitudinal slot of the helix assembly, to a second position where the pin is aligned with the longitudinal slot of the helix assembly, to a third position where the pin has been distally translated with respect to the helix assembly.
 2. The end effector according to claim 1, wherein a predetermined amount of rotation of the drive assembly with respect to the helix assembly causes a corresponding rotation of the needle assembly with respect to the helix assembly such that the needle assembly moves from its first position to its second position.
 3. The end effector according to claim 1, wherein when the needle assembly is in the first position, engagement between the pin of the needle assembly and the proximal end of the helix assembly prevents the needle assembly from moving distally with respect to the drive assembly.
 4. The end effector according to claim 3, wherein when the needle assembly is in the second position, the biasing element causes the pin to move distally within the longitudinal slot of the helix assembly such that the needle assembly is moved to the third position.
 5. The end effector according to claim 4, wherein rotation of the drive assembly when the needle assembly is in the third position causes the helix assembly to rotate with respect to an outer tube.
 6. The end effector according to claim 5, wherein rotation of the helix assembly with respect to the outer tube causes proximal movement of the needle assembly with respect to the outer tube.
 7. The end effector according to claim 1, wherein the drive assembly includes a first arm and a second arm, both of the first arm and the second arm are configured to directly contact the needle assembly.
 8. The end effector according to claim 1, further comprising a suture disposed in mechanical cooperation with a needle of the needle assembly.
 9. An end effector for use with a surgical device, the end effector comprising: a drive assembly defining a longitudinal axis; a needle assembly including at least one pin and disposed in mechanical cooperation with the drive assembly; a helix assembly disposed in mechanical cooperation with the needle assembly, the helix assembly including at least one longitudinal slot and a helical thread, the needle assembly is longitudinally translatable relative to the helix assembly; and an outer tube disposed in mechanically cooperation with the helix assembly, the outer tube including a helical groove configured to engage the helical thread of the helix assembly such that the helix assembly is rotatable about the longitudinal axis relative to the outer tube.
 10. The end effector according to claim 9, wherein the at least one pin of the needle assembly is configured to slide through the at least one longitudinal slot of the helix assembly.
 11. The end effector according to claim 9, wherein the at least one pin of the needle assembly is configured to move from a first position where the at least one pin is free from engagement with the at least one longitudinal slot of the helix assembly, to a second position where the at least one pin is within the at least one longitudinal slot of the helix assembly.
 12. The end effector according to claim 9, wherein the at least one pin of the needle assembly includes a first pin and a second pin.
 13. The end effector according to claim 12, wherein the at least one longitudinal slot of the helix assembly includes a first longitudinal slot and a second longitudinal slot, the first pin is configured to travel within the first longitudinal slot while the second pin travels within the second longitudinal slot.
 14. The end effector according to claim 9, wherein the drive assembly is fixed from longitudinal movement relative to the outer tube.
 15. The end effector according to claim 9, further including a biasing element disposed in mechanical cooperation with the needle assembly and configured to bias the needle assembly distally relative to the drive assembly.
 16. The end effector according to claim 15, wherein rotation of the helix assembly relative to the outer tube causes proximal movement of the needle assembly relative to the outer tube.
 17. The end effector according to claim 9, wherein rotation of the helix assembly relative to the outer tube causes proximal movement of the needle assembly relative to the outer tube.
 18. The end effector according to claim 9, wherein the needle assembly is rotatable about the longitudinal axis relative to the helix assembly.
 19. The end effector according to claim 18, wherein the needle assembly is rotatable about the longitudinal axis relative to the outer tube.
 20. The end effector according to claim 9, wherein the needle assembly is rotatable about the longitudinal axis relative to the outer tube. 